diff --git a/.github/workflow/check_comments.sh b/.github/workflows/check_comments.sh
similarity index 100%
rename from .github/workflow/check_comments.sh
rename to .github/workflows/check_comments.sh
diff --git a/.github/workflow/comment-check.yml b/.github/workflows/comment-check.yml
similarity index 62%
rename from .github/workflow/comment-check.yml
rename to .github/workflows/comment-check.yml
index 0f21c782..4c89e659 100644
--- a/.github/workflow/comment-check.yml
+++ b/.github/workflows/comment-check.yml
@@ -1,12 +1,10 @@
-name: Comment Check
+name: Check comments percentage
 
 on:
   push:
     branches:
       - main
-  pull_request:
-    branches:
-      - main
+      - '*'
 
 jobs:
   build:
@@ -16,6 +14,9 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v2
 
+      - name: Give execute permission for script
+        run: chmod +x ./.github/workflows/check_comments.sh
+
       - name: Check comment percentage
         run: |
           ./.github/workflows/check_comments.sh
diff --git a/.github/workflows/docker-compose-test.yml b/.github/workflows/docker-compose-test.yml
new file mode 100644
index 00000000..a78d5787
--- /dev/null
+++ b/.github/workflows/docker-compose-test.yml
@@ -0,0 +1,44 @@
+name: Docker Compose Test
+
+on:
+  push:
+    branches:
+      - main
+      - '*'
+
+jobs:
+  Test_Nano_Docker:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+      # Exculding inference because it needs .oonx and .ini files, which are private
+      # Add docker-compose.override.yml to overcome CPU higher than 1 in pilot service
+      - name: Docker compose build (root without inference)
+        run: docker-compose -f docker-compose.yml -f docker-compose.override.yml build $(docker-compose -f docker-compose.yml -f docker-compose.override.yml config --services | grep -v inference)
+
+      # Make sure it would run good for at least 30 seconds
+      - name: Docker compose up (root without inference)
+        run: |
+          docker-compose -f docker-compose.yml -f docker-compose.override.yml up -d $(docker-compose -f docker-compose.yml -f docker-compose.override.yml config --services | grep -v inference)
+          sleep 30
+          docker-compose -f docker-compose.yml -f docker-compose.override.yml down
+    
+
+  Test_Pi_Docker:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+        # Build the Docker services: This validates the build process and catches issues related to the Dockerfile and dependencies.
+      - name: Docker compose build (raspi)
+        run: docker-compose -f raspi/docker-compose.yml build
+
+        # Run (up): Ensures that the application behaves correctly in a containerized environment.
+      - name: Docker compose up (raspi)
+        run: |
+          docker-compose -f raspi/docker-compose.yml up -d
+          sleep 30
+          docker-compose -f raspi/docker-compose.yml down
diff --git a/.github/workflows/python-CI.yml b/.github/workflows/python-CI.yml
new file mode 100644
index 00000000..f032c560
--- /dev/null
+++ b/.github/workflows/python-CI.yml
@@ -0,0 +1,34 @@
+name: Python CI
+
+on:
+  push:
+    branches:
+      - main
+      - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [3.8, 3.9]
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install black
+      - name: Check code formatting with Black on changed files
+        run: |
+          FILES=$(git diff --name-only ${{ github.event.before }} ${{ github.sha }} | grep '\.py$' | xargs)
+          if [ ! -z "$FILES" ]; then
+            # Check the formatting of those files with black
+            black --check $FILES
+          else
+            echo "No Python files have changed."
+          fi
diff --git a/docker-compose.override.yml b/docker-compose.override.yml
new file mode 100644
index 00000000..68fcda94
--- /dev/null
+++ b/docker-compose.override.yml
@@ -0,0 +1,5 @@
+version: '3' # or whatever version you're using
+
+services:
+  pilot:
+    cpuset: '' # Clearing the CPU set constraint for testing
diff --git a/docker-compose.yml b/docker-compose.yml
index 29d3fa61..e9542ba5 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,4 +1,4 @@
-version: "2"
+version: '2'
 volumes:
   volume_zerotier_config:
   volume_wireguard_config:
@@ -10,12 +10,12 @@ volumes:
   volume_byodr_sessions:
 services:
   zerotier:
-    cpuset: "0"
+    cpuset: '0'
     image: zyclonite/zerotier:1.6.6
     restart: always
     network_mode: host
     devices:
-      - "/dev/net/tun"
+      - '/dev/net/tun'
     cap_add:
       - SYS_ADMIN
       - NET_ADMIN
@@ -23,13 +23,13 @@ services:
     volumes:
       - volume_zerotier_config:/var/lib/zerotier-one:rw
   wireguard:
-    cpuset: "0"
+    cpuset: '0'
     image: masipcat/wireguard-go
     container_name: wireguard
     restart: always
     network_mode: host
     devices:
-      - "/dev/net/tun"
+      - '/dev/net/tun'
     cap_add:
       - SYS_ADMIN
       - NET_ADMIN
@@ -37,49 +37,49 @@ services:
     volumes:
       - volume_wireguard_config:/etc/wireguard:rw
   httpd:
-    cpuset: "0"
+    cpuset: '0'
     build:
       context: .
       dockerfile: httpd/Dockerfile
     restart: always
     network_mode: host
-    command: ["python", "wrap.py"]
+    command: ['python', 'wrap.py']
     stop_signal: SIGKILL
     volumes:
       - volume_byodr_config:/config:rw
   ftpd:
-    cpuset: "0"
+    cpuset: '0'
     build:
       context: .
       dockerfile: ftpd/Dockerfile
     restart: always
-    command: ["python3", "wrap.py"]
+    command: ['python3', 'wrap.py']
     stop_signal: SIGKILL
     ports:
-      - "21:21"
-      - "30000-30009:30000-30009"
+      - '21:21'
+      - '30000-30009:30000-30009'
     volumes:
       - volume_ftpd_config:/etc/pureftpd:rw
       - volume_byodr_sessions:/home/ftpuser:rw
   rosnode:
-    cpuset: "0"
+    cpuset: '0'
     build:
       context: .
       dockerfile: rosnode/Dockerfile
     restart: always
-    command: ["python3", "app.py", "--name", "rosnode"]
+    command: ['python3', 'app.py', '--name', 'rosnode']
     network_mode: host
     stop_signal: SIGKILL
     volumes:
       - volume_byodr_sockets:/byodr:rw
       - volume_byodr_config:/config:ro
   mongodb:
-    cpuset: "0"
+    cpuset: '0'
     build:
       context: .
       dockerfile: mongodb/Dockerfile
     restart: always
-    command: ["python3", "wrap.py"]
+    command: ['python3', 'wrap.py']
     network_mode: host
     stop_signal: SIGKILL
     environment:
@@ -89,17 +89,12 @@ services:
       - volume_mongodb_config:/config:rw
       - volume_mongodb_data:/data/db:rw
   teleop:
-    cpuset: "0"
+    cpuset: '0'
     build:
       context: .
       dockerfile: teleop/Dockerfile
     restart: always
-    command:
-      [
-        "sh",
-        "-c",
-        "python3 -m teleop.app --name teleop --routes /sessions/routes",
-      ]
+    command: ['sh', '-c', 'python3 -m teleop.app --name teleop --routes /sessions/routes']
     network_mode: host
     environment:
       LD_PRELOAD: libgomp.so.1
@@ -108,12 +103,12 @@ services:
       - volume_byodr_config:/config:rw
       - volume_byodr_sessions:/sessions:rw
   vehicle:
-    cpuset: "1"
+    cpuset: '1'
     build:
       context: .
       dockerfile: vehicles/rover/rover_vehicle.dockerfile
     restart: always
-    command: ["python", "app.py", "--name", "vehicle"]
+    command: ['python', 'app.py', '--name', 'vehicle']
     privileged: true # NvMedia device creation for omx decoder.
     network_mode: host
     environment:
@@ -122,24 +117,15 @@ services:
       - volume_byodr_sockets:/byodr:rw
       - volume_byodr_config:/config:rw
   pilot:
-    cpuset: "2"
+    cpuset: '2'
     build:
       context: .
       dockerfile: pilot/Dockerfile
     restart: always
     privileged: true # Access to usb devices without udev rules.
-    command:
-      [
-        "python3",
-        "-m",
-        "pilot.app",
-        "--name",
-        "pilot",
-        "--routes",
-        "/sessions/routes",
-      ]
+    command: ['python3', '-m', 'pilot.app', '--name', 'pilot', '--routes', '/sessions/routes']
     ports:
-      - "8082:8082"
+      - '8082:8082'
     environment:
       LD_PRELOAD: libgomp.so.1
     volumes:
@@ -153,20 +139,10 @@ services:
       dockerfile: inference/runtime-cp36-jp441.dockerfile
     restart: always
     privileged: true
-    command:
-      [
-        "python3",
-        "-m",
-        "inference.app",
-        "--user",
-        "/sessions/models",
-        "--routes",
-        "/sessions/routes",
-      ]
+    command: ['python3', '-m', 'inference.app', '--user', '/sessions/models', '--routes', '/sessions/routes']
     environment:
       LD_PRELOAD: libgomp.so.1
-      OMP_PLACES: "{3}"
+      OMP_PLACES: '{3}'
     volumes:
       - volume_byodr_sockets:/byodr:rw
       - volume_byodr_config:/config:ro
-      - volume_byodr_sessions:/sessions:rw
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
deleted file mode 100644
index b2d47c07..00000000
--- a/requirements.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-cachetools==5.3.0
-can==0.0.0
-carla==0.9.14
-ConfigParser==5.3.0
-Equation==1.2.01
-geographiclib==2.0
-gpiozero==1.6.2
-numpy==1.24.2
-onnxruntime==1.14.1
-opencv_python==4.7.0.72
-pandas==1.5.3
-pymodbus==3.2.2
-pymongo==4.3.3
-pyserial==3.5
-pyueye==4.96.952
-pyusb==1.2.1
-pyvesc==1.0.5
-pyzmq==25.0.2
-requests==2.28.2
-scikit_learn==1.2.2
-scipy==1.10.1
-simple_pid==1.0.1
-six==1.16.0
-tornado==6.2